ORBSLAM阅读记录

 Frame.cc里的这个构造函数

Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth)
    :mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast(NULL)),
     mTimeStamp(timeStamp), mK(K.clone()),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth)
{
    // Frame ID
    mnId=nNextId++;

    // Scale Level Info
    mnScaleLevels = mpORBextractorLeft->GetLevels();
    mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
    mfLogScaleFactor = log(mfScaleFactor);
    mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
    mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
    mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
    mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();

    // ORB extraction
    ExtractORB(0,imGray);

    N = mvKeys.size();

    if(mvKeys.empty())
        return;

    UndistortKeyPoints();

    // Set no stereo information
    mvuRight = vector(N,-1);
    mvDepth = vector(N,-1);

    mvpMapPoints = vector(N,static_cast(NULL));
    mvbOutlier = vector(N,false);

    // This is done only for the first Frame (or after a change in the calibration)
    if(mbInitialComputations)
    {
        ComputeImageBounds(imGray);

        mfGridElementWidthInv=static_cast(FRAME_GRID_COLS)/static_cast(mnMaxX-mnMinX);
        mfGridElementHeightInv=static_cast(FRAME_GRID_ROWS)/static_cast(mnMaxY-mnMinY);

        fx = K.at(0,0);
        fy = K.at(1,1);
        cx = K.at(0,2);
        cy = K.at(1,2);
        invfx = 1.0f/fx;
        invfy = 1.0f/fy;

        mbInitialComputations=false;
    }

    mb = mbf/fx;

    AssignFeaturesToGrid();
}

在构造函数之后加冒号是初始化。形参当中的ORBextractor* extractor是一个对象，ORBextractor是一个类。基于此，才有下面的使用ORBextractor的方法操作。

    mnScaleLevels = mpORBextractorLeft->GetLevels();
    mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
    mfLogScaleFactor = log(mfScaleFactor);
    mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
    mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
    mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
    mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();

 

冒号：之后的mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast(NULL)),意思是把形参中的voc赋给mpORBvocabulary

(未完待续)